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<div class="title">MJ_interface.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;MJ_interface.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classMJ__Interface.html#a8673f6877a73148a67de90726d77e01a">   10</a></span>&#160;<a class="code" href="classMJ__Interface.html#a8673f6877a73148a67de90726d77e01a">MJ_Interface::MJ_Interface</a>(mjModel *mj_modelIn, mjData *mj_dataIn) {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    mj_model=mj_modelIn;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    mj_data=mj_dataIn;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    timeStep=mj_model-&gt;opt.timestep;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>=<a class="code" href="classMJ__Interface.html#a5cde9d9e1ab09a14e228a5df57e327f7">JointName</a>.size();</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    jntId_qpos.assign(<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>,0);</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    jntId_qvel.assign(<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>,0);</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    jntId_dctl.assign(<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>,0);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="classMJ__Interface.html#a3323cee5ccf158f098d43752aa0c749c">motor_pos</a>.assign(<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>,0);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="classMJ__Interface.html#ad6b575d76a968ffdda312686be04b826">motor_vel</a>.assign(<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>,0);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="classMJ__Interface.html#a2c2a122a4aa9542421e227e6c1722e3e">motor_pos_Old</a>.assign(<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>,0);</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>;i++)</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <span class="keywordtype">int</span> tmpId= mj_name2id(mj_model,mjOBJ_JOINT,<a class="code" href="classMJ__Interface.html#a5cde9d9e1ab09a14e228a5df57e327f7">JointName</a>[i].c_str());</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        <span class="keywordflow">if</span> (tmpId==-1)</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;            std::cerr &lt;&lt;<a class="code" href="classMJ__Interface.html#a5cde9d9e1ab09a14e228a5df57e327f7">JointName</a>[i]&lt;&lt; <span class="stringliteral">&quot; not found in the XML file!&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;            std::terminate();</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        }</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        jntId_qpos[i]=mj_model-&gt;jnt_qposadr[tmpId];</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        jntId_qvel[i]=mj_model-&gt;jnt_dofadr[tmpId];</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        std::string motorName=<a class="code" href="classMJ__Interface.html#a5cde9d9e1ab09a14e228a5df57e327f7">JointName</a>[i];</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        motorName=<span class="stringliteral">&quot;M&quot;</span>+motorName.substr(1);</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        tmpId= mj_name2id(mj_model,mjOBJ_ACTUATOR,motorName.c_str());</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        <span class="keywordflow">if</span> (tmpId==-1)</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        {</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;            std::cerr &lt;&lt;motorName&lt;&lt; <span class="stringliteral">&quot; not found in the XML file!&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;            std::terminate();</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        }</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        jntId_dctl[i]=tmpId;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    }</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">//    int adr = m-&gt;sensor_adr[sensorId];</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//    int dim = m-&gt;sensor_dim[sensorId];</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">//    mjtNum sensor_data[dim];</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//    mju_copy(sensor_data, &amp;d-&gt;sensordata[adr], dim);</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    baseBodyId= mj_name2id(mj_model,mjOBJ_BODY, <a class="code" href="classMJ__Interface.html#a6e59db58240c350c3e5fdaa1addcc969">baseName</a>.c_str());</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    orientataionSensorId= mj_name2id(mj_model, mjOBJ_SENSOR, <a class="code" href="classMJ__Interface.html#aa3e4c8f5df56bd3407a04c0ae6a15d79">orientationSensorName</a>.c_str());</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    velSensorId= mj_name2id(mj_model,mjOBJ_SENSOR,<a class="code" href="classMJ__Interface.html#ab5e87c8106ed161dbb4533f20cc35057">velSensorName</a>.c_str());</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    gyroSensorId= mj_name2id(mj_model,mjOBJ_SENSOR,<a class="code" href="classMJ__Interface.html#a47e131e382abab397483dfe54045d07b">gyroSensorName</a>.c_str());</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    accSensorId= mj_name2id(mj_model,mjOBJ_SENSOR,<a class="code" href="classMJ__Interface.html#a12b68aed8f3ca981ce80aae25d5c9073">accSensorName</a>.c_str());</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classMJ__Interface.html#af70216da714e571369d9d176571590a6">   52</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classMJ__Interface.html#af70216da714e571369d9d176571590a6">MJ_Interface::updateSensorValues</a>() {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>;i++){</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <a class="code" href="classMJ__Interface.html#a2c2a122a4aa9542421e227e6c1722e3e">motor_pos_Old</a>[i]=<a class="code" href="classMJ__Interface.html#a3323cee5ccf158f098d43752aa0c749c">motor_pos</a>[i];</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <a class="code" href="classMJ__Interface.html#a3323cee5ccf158f098d43752aa0c749c">motor_pos</a>[i]=mj_data-&gt;qpos[jntId_qpos[i]];</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <a class="code" href="classMJ__Interface.html#ad6b575d76a968ffdda312686be04b826">motor_vel</a>[i]=mj_data-&gt;qvel[jntId_qvel[i]];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;4;i++)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[i]=mj_data-&gt;sensordata[orientataionSensorId+i];</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">double</span> tmp=<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[0];</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[0]=<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[1];</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[1]=<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[2];</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[2]=<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[3];</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[3]=tmp;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="classMJ__Interface.html#a62d68e65d389ff62f9c7c95f786f094c">rpy</a>[0]= atan2(2*(<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[3]*<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[0]+<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[1]*<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[2]),1-2*(<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[0]*<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[0]+<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[1]*<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[1]));</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="classMJ__Interface.html#a62d68e65d389ff62f9c7c95f786f094c">rpy</a>[1]= asin(2*(<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[3]*<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[1]-<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[0]*<a class="code" href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">baseQuat</a>[2]));</div>
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<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;3;i++)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">double</span> posOld=<a class="code" href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">basePos</a>[i];</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <a class="code" href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">basePos</a>[i]=mj_data-&gt;xpos[3*baseBodyId+i];</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <a class="code" href="classMJ__Interface.html#a80db73384f82c7fc7509a66e35df0a23">baseAcc</a>[i]=mj_data-&gt;sensordata[accSensorId+i];</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="classMJ__Interface.html#a021529e1a992fa8c4151a3c61b952056">baseAngVel</a>[i]=mj_data-&gt;sensordata[gyroSensorId+i];</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <a class="code" href="classMJ__Interface.html#a515b7c4b0412a629fd8e2d8b7ff82012">baseLinVel</a>[i]=(<a class="code" href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">basePos</a>[i]-posOld)/(mj_model-&gt;opt.timestep);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classMJ__Interface.html#a820f45e54c3d726aa5631c2acfcf6cbd">   80</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classMJ__Interface.html#a820f45e54c3d726aa5631c2acfcf6cbd">MJ_Interface::setMotorsTorque</a>(std::vector&lt;double&gt; &amp;tauIn) {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">jointNum</a>;i++)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        mj_data-&gt;ctrl[i]=tauIn.at(i);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classMJ__Interface.html#ac13217e183325898b7a7e184470562f0">   85</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classMJ__Interface.html#ac13217e183325898b7a7e184470562f0">MJ_Interface::dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn) {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    busIn.<a class="code" href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">motors_pos_cur</a>=<a class="code" href="classMJ__Interface.html#a3323cee5ccf158f098d43752aa0c749c">motor_pos</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    busIn.<a class="code" href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">motors_vel_cur</a>=<a class="code" href="classMJ__Interface.html#ad6b575d76a968ffdda312686be04b826">motor_vel</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    busIn.<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[0]=<a class="code" href="classMJ__Interface.html#a62d68e65d389ff62f9c7c95f786f094c">rpy</a>[0];</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    busIn.<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[1]=<a class="code" href="classMJ__Interface.html#a62d68e65d389ff62f9c7c95f786f094c">rpy</a>[1];</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    busIn.<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[2]=<a class="code" href="classMJ__Interface.html#a62d68e65d389ff62f9c7c95f786f094c">rpy</a>[2];</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    busIn.<a class="code" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">fL</a>[0]=<a class="code" href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">f3d</a>[0][0];</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    busIn.<a class="code" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">fL</a>[1]=<a class="code" href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">f3d</a>[1][0];</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    busIn.<a class="code" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">fL</a>[2]=<a class="code" href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">f3d</a>[2][0];</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    busIn.<a class="code" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">fR</a>[0]=<a class="code" href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">f3d</a>[0][1];</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    busIn.<a class="code" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">fR</a>[1]=<a class="code" href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">f3d</a>[1][1];</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    busIn.<a class="code" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">fR</a>[2]=<a class="code" href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">f3d</a>[2][1];</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    busIn.<a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[0]=<a class="code" href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">basePos</a>[0];</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    busIn.<a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[1]=<a class="code" href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">basePos</a>[1];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    busIn.<a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[2]=<a class="code" href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">basePos</a>[2];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    busIn.<a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[0]=<a class="code" href="classMJ__Interface.html#a515b7c4b0412a629fd8e2d8b7ff82012">baseLinVel</a>[0];</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    busIn.<a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[1]=<a class="code" href="classMJ__Interface.html#a515b7c4b0412a629fd8e2d8b7ff82012">baseLinVel</a>[1];</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    busIn.<a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[2]=<a class="code" href="classMJ__Interface.html#a515b7c4b0412a629fd8e2d8b7ff82012">baseLinVel</a>[2];</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    busIn.<a class="code" href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">baseAcc</a>[0]=<a class="code" href="classMJ__Interface.html#a80db73384f82c7fc7509a66e35df0a23">baseAcc</a>[0];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    busIn.<a class="code" href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">baseAcc</a>[1]=<a class="code" href="classMJ__Interface.html#a80db73384f82c7fc7509a66e35df0a23">baseAcc</a>[1];</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    busIn.<a class="code" href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">baseAcc</a>[2]=<a class="code" href="classMJ__Interface.html#a80db73384f82c7fc7509a66e35df0a23">baseAcc</a>[2];</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    busIn.<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[0]=<a class="code" href="classMJ__Interface.html#a021529e1a992fa8c4151a3c61b952056">baseAngVel</a>[0];</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    busIn.<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[1]=<a class="code" href="classMJ__Interface.html#a021529e1a992fa8c4151a3c61b952056">baseAngVel</a>[1];</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    busIn.<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[2]=<a class="code" href="classMJ__Interface.html#a021529e1a992fa8c4151a3c61b952056">baseAngVel</a>[2];</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    busIn.<a class="code" href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">updateQ</a>();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassMJ__Interface_html_a5cde9d9e1ab09a14e228a5df57e327f7"><div class="ttname"><a href="classMJ__Interface.html#a5cde9d9e1ab09a14e228a5df57e327f7">MJ_Interface::JointName</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; JointName</div><div class="ttdoc">joint names list</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00034">MJ_interface.h:34</a></div></div>
<div class="ttc" id="astructDataBus_html_aadc53e4bcea2d069903b5de3274d5058"><div class="ttname"><a href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">DataBus::fL</a></div><div class="ttdeci">double fL[3]</div><div class="ttdoc">reaction force from ground to the left foot of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00031">data_bus.h:31</a></div></div>
<div class="ttc" id="astructDataBus_html_a6e174173373c09044fe77214ac22d61b"><div class="ttname"><a href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">DataBus::motors_vel_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_vel_cur</div><div class="ttdoc">all current motors velocity</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00038">data_bus.h:38</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a820f45e54c3d726aa5631c2acfcf6cbd"><div class="ttname"><a href="classMJ__Interface.html#a820f45e54c3d726aa5631c2acfcf6cbd">MJ_Interface::setMotorsTorque</a></div><div class="ttdeci">void setMotorsTorque(std::vector&lt; double &gt; &amp;tauIn)</div><div class="ttdoc">Set the Motors Torque.</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8cpp_source.html#l00080">MJ_interface.cpp:80</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a91f7d6a50267e9ff1537328a40d68775"><div class="ttname"><a href="classMJ__Interface.html#a91f7d6a50267e9ff1537328a40d68775">MJ_Interface::basePos</a></div><div class="ttdeci">double basePos[3]</div><div class="ttdoc">position of baselink, in world frame</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00029">MJ_interface.h:29</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a62d68e65d389ff62f9c7c95f786f094c"><div class="ttname"><a href="classMJ__Interface.html#a62d68e65d389ff62f9c7c95f786f094c">MJ_Interface::rpy</a></div><div class="ttdeci">double rpy[3]</div><div class="ttdoc">roll,pitch and yaw of baselink</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00026">MJ_interface.h:26</a></div></div>
<div class="ttc" id="astructDataBus_html_a0197a7fdd8fd08faa9981b7e9f758a2d"><div class="ttname"><a href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">DataBus::baseAcc</a></div><div class="ttdeci">double baseAcc[3]</div><div class="ttdoc">linear acceleration of the base link</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00035">data_bus.h:35</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a2c2a122a4aa9542421e227e6c1722e3e"><div class="ttname"><a href="classMJ__Interface.html#a2c2a122a4aa9542421e227e6c1722e3e">MJ_Interface::motor_pos_Old</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_pos_Old</div><div class="ttdoc">last motor position</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00024">MJ_interface.h:24</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a47e131e382abab397483dfe54045d07b"><div class="ttname"><a href="classMJ__Interface.html#a47e131e382abab397483dfe54045d07b">MJ_Interface::gyroSensorName</a></div><div class="ttdeci">const std::string gyroSensorName</div><div class="ttdoc">gyroscope sensor name</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00044">MJ_interface.h:44</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_aa3e4c8f5df56bd3407a04c0ae6a15d79"><div class="ttname"><a href="classMJ__Interface.html#aa3e4c8f5df56bd3407a04c0ae6a15d79">MJ_Interface::orientationSensorName</a></div><div class="ttdeci">const std::string orientationSensorName</div><div class="ttdoc">orientation sensor name</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00042">MJ_interface.h:42</a></div></div>
<div class="ttc" id="astructDataBus_html_a1673b53d2c783faaf80cb549c2065d78"><div class="ttname"><a href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">DataBus::updateQ</a></div><div class="ttdeci">void updateQ()</div><div class="ttdoc">update q (generalized coordinate) according to sensor values</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00224">data_bus.h:224</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a14cefc3f8d3c18ed5b2c435ac7d959ea"><div class="ttname"><a href="classMJ__Interface.html#a14cefc3f8d3c18ed5b2c435ac7d959ea">MJ_Interface::baseQuat</a></div><div class="ttdeci">double baseQuat[4]</div><div class="ttdoc">in quat, mujoco order is [w,x,y,z], here we rearrange to [x,y,z,w]</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00027">MJ_interface.h:27</a></div></div>
<div class="ttc" id="astructDataBus_html_a9b45a5287b92f51cc27899eee18f9ff2"><div class="ttname"><a href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">DataBus::rpy</a></div><div class="ttdeci">double rpy[3]</div><div class="ttdoc">roll, pitch, yaw angle of the robot body in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00030">data_bus.h:30</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_ac13217e183325898b7a7e184470562f0"><div class="ttname"><a href="classMJ__Interface.html#ac13217e183325898b7a7e184470562f0">MJ_Interface::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;busIn)</div><div class="ttdoc">write the updated data to dataBus</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8cpp_source.html#l00085">MJ_interface.cpp:85</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_ab67f241caf2e6ca0388154a2c578d624"><div class="ttname"><a href="classMJ__Interface.html#ab67f241caf2e6ca0388154a2c578d624">MJ_Interface::f3d</a></div><div class="ttdeci">double f3d[3][2]</div><div class="ttdoc">3D foot-end contact force, L for 1st col, R for 2nd col</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00028">MJ_interface.h:28</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_af70216da714e571369d9d176571590a6"><div class="ttname"><a href="classMJ__Interface.html#af70216da714e571369d9d176571590a6">MJ_Interface::updateSensorValues</a></div><div class="ttdeci">void updateSensorValues()</div><div class="ttdoc">update all the sensors value on the robot</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8cpp_source.html#l00052">MJ_interface.cpp:52</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a8673f6877a73148a67de90726d77e01a"><div class="ttname"><a href="classMJ__Interface.html#a8673f6877a73148a67de90726d77e01a">MJ_Interface::MJ_Interface</a></div><div class="ttdeci">MJ_Interface(mjModel *mj_modelIn, mjData *mj_dataIn)</div><div class="ttdoc">Construct a new mj interface object.</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8cpp_source.html#l00010">MJ_interface.cpp:10</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a12b68aed8f3ca981ce80aae25d5c9073"><div class="ttname"><a href="classMJ__Interface.html#a12b68aed8f3ca981ce80aae25d5c9073">MJ_Interface::accSensorName</a></div><div class="ttdeci">const std::string accSensorName</div><div class="ttdoc">acceleration sensor name</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00045">MJ_interface.h:45</a></div></div>
<div class="ttc" id="astructDataBus_html_acc95bd4d4d7820893823fc0ad5ac3526"><div class="ttname"><a href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">DataBus::baseAngVel</a></div><div class="ttdeci">double baseAngVel[3]</div><div class="ttdoc">angular velocity of the base link</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00036">data_bus.h:36</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a5e8510564e538fa386a818f6f96a5121"><div class="ttname"><a href="classMJ__Interface.html#a5e8510564e538fa386a818f6f96a5121">MJ_Interface::jointNum</a></div><div class="ttdeci">int jointNum</div><div class="ttdoc">number of joints</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00022">MJ_interface.h:22</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a3323cee5ccf158f098d43752aa0c749c"><div class="ttname"><a href="classMJ__Interface.html#a3323cee5ccf158f098d43752aa0c749c">MJ_Interface::motor_pos</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_pos</div><div class="ttdoc">current motor position</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00023">MJ_interface.h:23</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a6e59db58240c350c3e5fdaa1addcc969"><div class="ttname"><a href="classMJ__Interface.html#a6e59db58240c350c3e5fdaa1addcc969">MJ_Interface::baseName</a></div><div class="ttdeci">const std::string baseName</div><div class="ttdoc">baselink name</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00041">MJ_interface.h:41</a></div></div>
<div class="ttc" id="astructDataBus_html_a44f2d7d4c5921d086e842faf04d6b5e3"><div class="ttname"><a href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">DataBus::motors_pos_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_pos_cur</div><div class="ttdoc">all current motors position</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00037">data_bus.h:37</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_ad6b575d76a968ffdda312686be04b826"><div class="ttname"><a href="classMJ__Interface.html#ad6b575d76a968ffdda312686be04b826">MJ_Interface::motor_vel</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_vel</div><div class="ttdoc">motor velocity</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00025">MJ_interface.h:25</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_ab5e87c8106ed161dbb4533f20cc35057"><div class="ttname"><a href="classMJ__Interface.html#ab5e87c8106ed161dbb4533f20cc35057">MJ_Interface::velSensorName</a></div><div class="ttdeci">const std::string velSensorName</div><div class="ttdoc">velocity sensor name</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00043">MJ_interface.h:43</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a021529e1a992fa8c4151a3c61b952056"><div class="ttname"><a href="classMJ__Interface.html#a021529e1a992fa8c4151a3c61b952056">MJ_Interface::baseAngVel</a></div><div class="ttdeci">double baseAngVel[3]</div><div class="ttdoc">angular velocity of baselink, in body frame</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00031">MJ_interface.h:31</a></div></div>
<div class="ttc" id="astructDataBus_html_a5b79678006c606fc8e70a082f4fb1fe4"><div class="ttname"><a href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">DataBus::baseLinVel</a></div><div class="ttdeci">double baseLinVel[3]</div><div class="ttdoc">linear velocity of the base(body) of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00034">data_bus.h:34</a></div></div>
<div class="ttc" id="astructDataBus_html_ab3279b454456687b2293f804b7e70390"><div class="ttname"><a href="structDataBus.html#ab3279b454456687b2293f804b7e70390">DataBus::fR</a></div><div class="ttdeci">double fR[3]</div><div class="ttdoc">reaction force from ground to the right foot of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00032">data_bus.h:32</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a515b7c4b0412a629fd8e2d8b7ff82012"><div class="ttname"><a href="classMJ__Interface.html#a515b7c4b0412a629fd8e2d8b7ff82012">MJ_Interface::baseLinVel</a></div><div class="ttdeci">double baseLinVel[3]</div><div class="ttdoc">linear velocity of baselink, in body frame</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00032">MJ_interface.h:32</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html_a80db73384f82c7fc7509a66e35df0a23"><div class="ttname"><a href="classMJ__Interface.html#a80db73384f82c7fc7509a66e35df0a23">MJ_Interface::baseAcc</a></div><div class="ttdeci">double baseAcc[3]</div><div class="ttdoc">acceleration of baselink, in body frame</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00030">MJ_interface.h:30</a></div></div>
<div class="ttc" id="astructDataBus_html_a66bfad87a864abd89bd6a0308e65ebc4"><div class="ttname"><a href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">DataBus::basePos</a></div><div class="ttdeci">double basePos[3]</div><div class="ttdoc">linear position of the base(body) of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00033">data_bus.h:33</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
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